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  <div class="headertitle"><div class="title">user_lib.h</div></div>
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<a href="user__lib_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span></div>
<div class="line"><a id="l00013" name="l00013"></a><span class="lineno">   13</span><span class="preprocessor">#ifndef _USER_LIB_H</span></div>
<div class="line"><a id="l00014" name="l00014"></a><span class="lineno">   14</span><span class="preprocessor">#define _USER_LIB_H</span></div>
<div class="line"><a id="l00015" name="l00015"></a><span class="lineno">   15</span> </div>
<div class="line"><a id="l00016" name="l00016"></a><span class="lineno">   16</span><span class="preprocessor">#include &quot;stdint.h&quot;</span></div>
<div class="line"><a id="l00017" name="l00017"></a><span class="lineno">   17</span><span class="preprocessor">#include &quot;<a class="code" href="main_8h.html">main.h</a>&quot;</span></div>
<div class="line"><a id="l00018" name="l00018"></a><span class="lineno">   18</span><span class="preprocessor">#include &quot;cmsis_os.h&quot;</span></div>
<div class="line"><a id="l00019" name="l00019"></a><span class="lineno">   19</span><span class="preprocessor">#include &quot;<a class="code" href="stm32h723xx_8h.html">stm32h723xx.h</a>&quot;</span></div>
<div class="line"><a id="l00020" name="l00020"></a><span class="lineno">   20</span><span class="preprocessor">#include &quot;arm_math.h&quot;</span></div>
<div class="line"><a id="l00021" name="l00021"></a><span class="lineno">   21</span> </div>
<div class="line"><a id="l00022" name="l00022"></a><span class="lineno">   22</span> </div>
<div class="line"><a id="l00023" name="l00023"></a><span class="lineno">   23</span><span class="preprocessor">#ifndef user_malloc</span></div>
<div class="line"><a id="l00024" name="l00024"></a><span class="lineno">   24</span><span class="preprocessor">#ifdef _CMSIS_OS_H</span></div>
<div class="line"><a id="l00025" name="l00025"></a><span class="lineno">   25</span><span class="preprocessor">#define user_malloc pvPortMalloc</span></div>
<div class="line"><a id="l00026" name="l00026"></a><span class="lineno">   26</span><span class="preprocessor">#else</span></div>
<div class="line"><a id="l00027" name="l00027"></a><span class="lineno">   27</span><span class="preprocessor">#define user_malloc malloc</span></div>
<div class="line"><a id="l00028" name="l00028"></a><span class="lineno">   28</span><span class="preprocessor">#endif</span></div>
<div class="line"><a id="l00029" name="l00029"></a><span class="lineno">   29</span><span class="preprocessor">#endif</span></div>
<div class="line"><a id="l00030" name="l00030"></a><span class="lineno">   30</span> </div>
<div class="line"><a id="l00031" name="l00031"></a><span class="lineno">   31</span><span class="preprocessor">#define msin(x) (arm_sin_f32(x))</span></div>
<div class="line"><a id="l00032" name="l00032"></a><span class="lineno">   32</span><span class="preprocessor">#define mcos(x) (arm_cos_f32(x))</span></div>
<div class="line"><a id="l00033" name="l00033"></a><span class="lineno">   33</span> </div>
<div class="line"><a id="l00034" name="l00034"></a><span class="lineno">   34</span><span class="keyword">typedef</span> <a class="code hl_struct" href="structarm__matrix__instance__f32.html">arm_matrix_instance_f32</a> mat;</div>
<div class="line"><a id="l00035" name="l00035"></a><span class="lineno">   35</span><span class="comment">// 若运算速度不够,可以使用q31代替f32,但是精度会降低</span></div>
<div class="line"><a id="l00036" name="l00036"></a><span class="lineno">   36</span><span class="preprocessor">#define MatAdd arm_mat_add_f32</span></div>
<div class="line"><a id="l00037" name="l00037"></a><span class="lineno">   37</span><span class="preprocessor">#define MatSubtract arm_mat_sub_f32</span></div>
<div class="line"><a id="l00038" name="l00038"></a><span class="lineno">   38</span><span class="preprocessor">#define MatMultiply arm_mat_mult_f32</span></div>
<div class="line"><a id="l00039" name="l00039"></a><span class="lineno">   39</span><span class="preprocessor">#define MatTranspose arm_mat_trans_f32</span></div>
<div class="line"><a id="l00040" name="l00040"></a><span class="lineno">   40</span><span class="preprocessor">#define MatInverse arm_mat_inverse_f32</span></div>
<div class="line"><a id="l00041" name="l00041"></a><span class="lineno">   41</span><span class="keywordtype">void</span> MatInit(mat *m, uint8_t row, uint8_t col);</div>
<div class="line"><a id="l00042" name="l00042"></a><span class="lineno">   42</span> </div>
<div class="line"><a id="l00043" name="l00043"></a><span class="lineno">   43</span><span class="comment">/* boolean type definitions */</span></div>
<div class="line"><a id="l00044" name="l00044"></a><span class="lineno">   44</span><span class="preprocessor">#ifndef TRUE</span></div>
<div class="line"><a id="l00045" name="l00045"></a><span class="lineno"><a class="line" href="user__lib_8h.html#aa8cecfc5c5c054d2875c03e77b7be15d">   45</a></span><span class="preprocessor">#define TRUE 1 </span><span class="preprocessor"></span></div>
<div class="line"><a id="l00046" name="l00046"></a><span class="lineno">   46</span><span class="preprocessor">#endif</span></div>
<div class="line"><a id="l00047" name="l00047"></a><span class="lineno">   47</span> </div>
<div class="line"><a id="l00048" name="l00048"></a><span class="lineno">   48</span><span class="preprocessor">#ifndef FALSE</span></div>
<div class="line"><a id="l00049" name="l00049"></a><span class="lineno"><a class="line" href="user__lib_8h.html#aa93f0eb578d23995850d61f7d61c55c1">   49</a></span><span class="preprocessor">#define FALSE 0 </span><span class="preprocessor"></span></div>
<div class="line"><a id="l00050" name="l00050"></a><span class="lineno">   50</span><span class="preprocessor">#endif</span></div>
<div class="line"><a id="l00051" name="l00051"></a><span class="lineno">   51</span> </div>
<div class="line"><a id="l00052" name="l00052"></a><span class="lineno">   52</span><span class="comment">/* circumference ratio */</span></div>
<div class="line"><a id="l00053" name="l00053"></a><span class="lineno">   53</span><span class="preprocessor">#ifndef PI</span></div>
<div class="line"><a id="l00054" name="l00054"></a><span class="lineno">   54</span><span class="preprocessor">#define PI 3.14159265354f</span></div>
<div class="line"><a id="l00055" name="l00055"></a><span class="lineno">   55</span><span class="preprocessor">#endif</span></div>
<div class="line"><a id="l00056" name="l00056"></a><span class="lineno">   56</span> </div>
<div class="line"><a id="l00057" name="l00057"></a><span class="lineno">   57</span><span class="preprocessor">#define VAL_LIMIT(val, min, max) \</span></div>
<div class="line"><a id="l00058" name="l00058"></a><span class="lineno">   58</span><span class="preprocessor">    do                           \</span></div>
<div class="line"><a id="l00059" name="l00059"></a><span class="lineno">   59</span><span class="preprocessor">    {                            \</span></div>
<div class="line"><a id="l00060" name="l00060"></a><span class="lineno">   60</span><span class="preprocessor">        if ((val) &lt;= (min))      \</span></div>
<div class="line"><a id="l00061" name="l00061"></a><span class="lineno">   61</span><span class="preprocessor">        {                        \</span></div>
<div class="line"><a id="l00062" name="l00062"></a><span class="lineno">   62</span><span class="preprocessor">            (val) = (min);       \</span></div>
<div class="line"><a id="l00063" name="l00063"></a><span class="lineno">   63</span><span class="preprocessor">        }                        \</span></div>
<div class="line"><a id="l00064" name="l00064"></a><span class="lineno">   64</span><span class="preprocessor">        else if ((val) &gt;= (max)) \</span></div>
<div class="line"><a id="l00065" name="l00065"></a><span class="lineno">   65</span><span class="preprocessor">        {                        \</span></div>
<div class="line"><a id="l00066" name="l00066"></a><span class="lineno">   66</span><span class="preprocessor">            (val) = (max);       \</span></div>
<div class="line"><a id="l00067" name="l00067"></a><span class="lineno">   67</span><span class="preprocessor">        }                        \</span></div>
<div class="line"><a id="l00068" name="l00068"></a><span class="lineno">   68</span><span class="preprocessor">    } while (0)</span></div>
<div class="line"><a id="l00069" name="l00069"></a><span class="lineno">   69</span> </div>
<div class="line"><a id="l00070" name="l00070"></a><span class="lineno">   70</span><span class="preprocessor">#define ANGLE_LIMIT_360(val, angle)     \</span></div>
<div class="line"><a id="l00071" name="l00071"></a><span class="lineno">   71</span><span class="preprocessor">    do                                  \</span></div>
<div class="line"><a id="l00072" name="l00072"></a><span class="lineno">   72</span><span class="preprocessor">    {                                   \</span></div>
<div class="line"><a id="l00073" name="l00073"></a><span class="lineno">   73</span><span class="preprocessor">        (val) = (angle) - (int)(angle); \</span></div>
<div class="line"><a id="l00074" name="l00074"></a><span class="lineno">   74</span><span class="preprocessor">        (val) += (int)(angle) % 360;    \</span></div>
<div class="line"><a id="l00075" name="l00075"></a><span class="lineno">   75</span><span class="preprocessor">    } while (0)</span></div>
<div class="line"><a id="l00076" name="l00076"></a><span class="lineno">   76</span> </div>
<div class="line"><a id="l00077" name="l00077"></a><span class="lineno">   77</span><span class="preprocessor">#define ANGLE_LIMIT_360_TO_180(val) \</span></div>
<div class="line"><a id="l00078" name="l00078"></a><span class="lineno">   78</span><span class="preprocessor">    do                              \</span></div>
<div class="line"><a id="l00079" name="l00079"></a><span class="lineno">   79</span><span class="preprocessor">    {                               \</span></div>
<div class="line"><a id="l00080" name="l00080"></a><span class="lineno">   80</span><span class="preprocessor">        if ((val) &gt; 180)            \</span></div>
<div class="line"><a id="l00081" name="l00081"></a><span class="lineno">   81</span><span class="preprocessor">            (val) -= 360;           \</span></div>
<div class="line"><a id="l00082" name="l00082"></a><span class="lineno">   82</span><span class="preprocessor">    } while (0)</span></div>
<div class="line"><a id="l00083" name="l00083"></a><span class="lineno">   83</span> </div>
<div class="line"><a id="l00084" name="l00084"></a><span class="lineno">   84</span><span class="preprocessor">#define VAL_MIN(a, b) ((a) &lt; (b) ? (a) : (b))</span></div>
<div class="line"><a id="l00085" name="l00085"></a><span class="lineno">   85</span><span class="preprocessor">#define VAL_MAX(a, b) ((a) &gt; (b) ? (a) : (b))</span></div>
<div class="line"><a id="l00086" name="l00086"></a><span class="lineno">   86</span></div>
<div class="line"><a id="l00093" name="l00093"></a><span class="lineno">   93</span><span class="keywordtype">void</span> *<a class="code hl_function" href="user__lib_8h.html#a31afb956339abf0230d4314c847dd971">zmalloc</a>(<span class="keywordtype">size_t</span> size);</div>
<div class="line"><a id="l00094" name="l00094"></a><span class="lineno">   94</span> </div>
<div class="line"><a id="l00095" name="l00095"></a><span class="lineno">   95</span><span class="comment">// ���ٿ���</span></div>
<div class="line"><a id="l00096" name="l00096"></a><span class="lineno">   96</span><span class="keywordtype">float</span> Sqrt(<span class="keywordtype">float</span> x);</div>
<div class="line"><a id="l00097" name="l00097"></a><span class="lineno">   97</span><span class="comment">// ��������</span></div>
<div class="line"><a id="l00098" name="l00098"></a><span class="lineno">   98</span><span class="keywordtype">float</span> abs_limit(<span class="keywordtype">float</span> num, <span class="keywordtype">float</span> Limit);</div>
<div class="line"><a id="l00099" name="l00099"></a><span class="lineno">   99</span><span class="comment">// �жϷ���λ</span></div>
<div class="line"><a id="l00100" name="l00100"></a><span class="lineno">  100</span><span class="keywordtype">float</span> sign(<span class="keywordtype">float</span> value);</div>
<div class="line"><a id="l00101" name="l00101"></a><span class="lineno">  101</span><span class="comment">// ��������</span></div>
<div class="line"><a id="l00102" name="l00102"></a><span class="lineno">  102</span><span class="keywordtype">float</span> float_deadband(<span class="keywordtype">float</span> Value, <span class="keywordtype">float</span> minValue, <span class="keywordtype">float</span> maxValue);</div>
<div class="line"><a id="l00103" name="l00103"></a><span class="lineno">  103</span><span class="comment">// �޷�����</span></div>
<div class="line"><a id="l00104" name="l00104"></a><span class="lineno">  104</span><span class="keywordtype">float</span> float_constrain(<span class="keywordtype">float</span> Value, <span class="keywordtype">float</span> minValue, <span class="keywordtype">float</span> maxValue);</div>
<div class="line"><a id="l00105" name="l00105"></a><span class="lineno">  105</span><span class="comment">// �޷�����</span></div>
<div class="line"><a id="l00106" name="l00106"></a><span class="lineno">  106</span>int16_t int16_constrain(int16_t Value, int16_t minValue, int16_t maxValue);</div>
<div class="line"><a id="l00107" name="l00107"></a><span class="lineno">  107</span><span class="comment">// ѭ���޷�����</span></div>
<div class="line"><a id="l00108" name="l00108"></a><span class="lineno">  108</span><span class="keywordtype">float</span> loop_float_constrain(<span class="keywordtype">float</span> Input, <span class="keywordtype">float</span> minValue, <span class="keywordtype">float</span> maxValue);</div>
<div class="line"><a id="l00109" name="l00109"></a><span class="lineno">  109</span><span class="comment">// �Ƕ� ���޷� 180 ~ -180</span></div>
<div class="line"><a id="l00110" name="l00110"></a><span class="lineno">  110</span><span class="keywordtype">float</span> theta_format(<span class="keywordtype">float</span> Ang);</div>
<div class="line"><a id="l00111" name="l00111"></a><span class="lineno">  111</span> </div>
<div class="line"><a id="l00112" name="l00112"></a><span class="lineno">  112</span><span class="keywordtype">int</span> float_rounding(<span class="keywordtype">float</span> raw);</div>
<div class="line"><a id="l00113" name="l00113"></a><span class="lineno">  113</span> </div>
<div class="line"><a id="l00114" name="l00114"></a><span class="lineno">  114</span><span class="keywordtype">float</span> *Norm3d(<span class="keywordtype">float</span> *v);</div>
<div class="line"><a id="l00115" name="l00115"></a><span class="lineno">  115</span> </div>
<div class="line"><a id="l00116" name="l00116"></a><span class="lineno">  116</span><span class="keywordtype">float</span> NormOf3d(<span class="keywordtype">float</span> *v);</div>
<div class="line"><a id="l00117" name="l00117"></a><span class="lineno">  117</span> </div>
<div class="line"><a id="l00118" name="l00118"></a><span class="lineno">  118</span><span class="keywordtype">void</span> Cross3d(<span class="keywordtype">float</span> *v1, <span class="keywordtype">float</span> *v2, <span class="keywordtype">float</span> *res);</div>
<div class="line"><a id="l00119" name="l00119"></a><span class="lineno">  119</span> </div>
<div class="line"><a id="l00120" name="l00120"></a><span class="lineno">  120</span><span class="keywordtype">float</span> Dot3d(<span class="keywordtype">float</span> *v1, <span class="keywordtype">float</span> *v2);</div>
<div class="line"><a id="l00121" name="l00121"></a><span class="lineno">  121</span> </div>
<div class="line"><a id="l00122" name="l00122"></a><span class="lineno">  122</span><span class="keywordtype">float</span> AverageFilter(<span class="keywordtype">float</span> new_data, <span class="keywordtype">float</span> *buf, uint8_t len);</div>
<div class="line"><a id="l00123" name="l00123"></a><span class="lineno">  123</span> </div>
<div class="line"><a id="l00124" name="l00124"></a><span class="lineno">  124</span><span class="preprocessor">#define rad_format(Ang) loop_float_constrain((Ang), -PI, PI)</span></div>
<div class="line"><a id="l00125" name="l00125"></a><span class="lineno">  125</span> </div>
<div class="line"><a id="l00126" name="l00126"></a><span class="lineno">  126</span><span class="preprocessor">#endif</span></div>
<div class="ttc" id="amain_8h_html"><div class="ttname"><a href="main_8h.html">main.h</a></div><div class="ttdoc">: Header for main.c file. This file contains the common defines of the application.</div></div>
<div class="ttc" id="astm32h723xx_8h_html"><div class="ttname"><a href="stm32h723xx_8h.html">stm32h723xx.h</a></div><div class="ttdoc">CMSIS STM32H723xx Device Peripheral Access Layer Header File.</div></div>
<div class="ttc" id="astructarm__matrix__instance__f32_html"><div class="ttname"><a href="structarm__matrix__instance__f32.html">arm_matrix_instance_f32</a></div><div class="ttdoc">Instance structure for the floating-point matrix structure.</div><div class="ttdef"><b>Definition</b> arm_math.h:2399</div></div>
<div class="ttc" id="auser__lib_8h_html_a31afb956339abf0230d4314c847dd971"><div class="ttname"><a href="user__lib_8h.html#a31afb956339abf0230d4314c847dd971">zmalloc</a></div><div class="ttdeci">void * zmalloc(size_t size)</div><div class="ttdoc">返回一块干净的内�?,不过仍然需要强制转�?为你需要的类型</div><div class="ttdef"><b>Definition</b> user_lib.c:26</div></div>
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